The Advanced Photon Source (APS) upgrade project at Argonne National Laboratory includes the implementation of superconducting undulator insertion devices. A development program is under way to build, test, and operate a prototype device in the storage ring. We present the overall design concept including superconducting magnet structure, cryocooler-based cooling system, and cryostat as well as a status report on the R&D program. Results of cryocooler performance characterization using a model magnet in a test cryostat are described.